KR830005976A - Industrial robot - Google Patents

Industrial robot Download PDF

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Publication number
KR830005976A
KR830005976A KR1019810002915A KR810002915A KR830005976A KR 830005976 A KR830005976 A KR 830005976A KR 1019810002915 A KR1019810002915 A KR 1019810002915A KR 810002915 A KR810002915 A KR 810002915A KR 830005976 A KR830005976 A KR 830005976A
Authority
KR
South Korea
Prior art keywords
driving
gear
shaft
arm
industrial robot
Prior art date
Application number
KR1019810002915A
Other languages
Korean (ko)
Other versions
KR840002421B1 (en
Inventor
도시오오 가와노
Original Assignee
도시오오 가와노
다이닛지 기꼬오 가부시끼가이샤
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP11280180A external-priority patent/JPS5848316B2/en
Priority claimed from JP11280080A external-priority patent/JPS59351B2/en
Priority claimed from JP11280280A external-priority patent/JPS5847317B2/en
Priority claimed from JP11614180U external-priority patent/JPS5738209U/ja
Priority claimed from JP11614280U external-priority patent/JPS588466Y2/en
Application filed by 도시오오 가와노, 다이닛지 기꼬오 가부시끼가이샤 filed Critical 도시오오 가와노
Publication of KR830005976A publication Critical patent/KR830005976A/en
Application granted granted Critical
Publication of KR840002421B1 publication Critical patent/KR840002421B1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B23P19/12—Alignment of parts for insertion into bores
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0012—Balancing devices using fluidic devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

내용 없음No content

Description

산업용 로봇Industrial robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명의 산업용 로봇 전체의 측면도.1 is a side view of the entire industrial robot of the present invention.

제2도는 1부를 절결한 동 측면도.Figure 2 is a side view of a cutout of one part.

제3도는 선회기구의 단면도.3 is a sectional view of a swing mechanism.

제4도는 요부의 단면도.4 is a cross-sectional view of the main portion.

제10도는 핸드부의 요부의 측면도.10 is a side view of the main portion of the hand portion.

제11도는 동 단면도.11 is the same cross-sectional view.

제12도는 작용설명도.12 is a diagram explaining the operation.

Claims (5)

적어도 3축(軸)방향으로 단독 또는 동시에 조작할 수 있는 핸드기구를 하단부에 설치한 수직아암 제2 수직아암등을 선단부에 있어서 각각 추지(樞支)하여 이루어진 수평방향으로 신장하는 상하아암과 보조아암의 기단부는 구동모우터에 직결하여 펄스엔코우더를 갖추고 있는 동시에 감속장치를 설치한 제어용 회전축을 구동용 회전축에 내설하고, 이것에 연등하는 선회기구를 설치한 측판에 지지되어서 아암기구를 구성하고, 상하아암은 수평방향으로 이동규제되는 전후동기구와 또 보조아암과 하방아암은 상하방향으로 이동규제되는 상하동기구로 구성하고, 이들 기구는 각각 펄스엔코우더의 제어를 받는 감속기구를 갖춘 구동모우터를 가진 공기압 실린더등으로 구성되는 구동용의 서어보 작동기를 연결하고 상기 상방아암과 보조아암을 수직으로 연결하는 링크에는 상시 수직방향으로 실린더의 추력이 작용하는 밸런스기구를 설치하고 또한 이 링크의 하방의 지축과 일체 또는 이것에 연결하는 돌출축의 접합자(接合子)는 측판의 외방에 설치한 판상체의 맞닿을 수 있는 이너어셔 기구를 구성하여 이루어진 산업용 로봇.Vertical arms and auxiliary arms extending in the horizontal direction formed by distal end of each of the vertical arms and the second vertical arms provided at the lower end with hand mechanisms capable of operating independently or simultaneously in at least three axes. The base end of the arm is directly connected to the drive motor and has a pulse encoder, and a control rotary shaft with a reduction gear is installed on the drive rotary shaft, and is supported by a side plate provided with a turning mechanism that is equivalent to the arm mechanism. The upper and lower arms consist of a forward and backward movement mechanism that is controlled to move in the horizontal direction, and the auxiliary arm and the lower arm consist of an up and down movement mechanism that is controlled to move in the vertical direction. Each of these mechanisms includes a deceleration mechanism that is controlled by a pulse encoder. Connect the servo actuator for driving, which consists of a pneumatic cylinder with a driving motor, and vertically connect the upper and auxiliary arms The linking mechanism is provided with a balance mechanism in which the thrust of the cylinder acts in the vertical direction at all times, and the joints of the protruding shafts which are integrally connected to or connected to the lower axis of the linkage are arranged on the outer side of the side plate. An industrial robot made up of an inertia mechanism that can be contacted. 적어도 3축방향으로 단독 또는 동시에 조작할 수 있는 핸드기구를 지지하는 축판간에 있어서 수평방향으로 연장되는 2개의 아암의 기단부를 수직으로 연결하는 링크에 상시 수직방향으로)실린더의 추력이 작용하도록 구성하여 이루어진 아암기구를 가진 산업용 로봇.The thrust of the cylinder is always applied to a link connecting the proximal ends of the two arms extending in the horizontal direction between the shaft plates supporting the hand mechanism which can be operated alone or simultaneously in at least three axes. Industrial robot with arm mechanism. 적어도 3축방향으로 단독 또는 동시에 조작할 수 있는 핸드기구를 지지하는 측판간에 있어서 수평 방향으로 연장하는 2개의 아암의 기단부를 링크를 통하여 수직으로 연결하고 이 하방의 아암과 링크를 연결하는 지축과 일체 또는 이것에 연결하는 부착축의 선단부에 걸치한 접합자가 측판 또는 측판을 지나서 외측의 판상체에 상시 맞닿도록 구성하여 이루어진 아암기구를 가진 산업용로봇.Between the side plates supporting the hand mechanism which can be operated alone or simultaneously in at least three axes, the base ends of the two arms extending in the horizontal direction are vertically connected through the link and integrated with the support shaft connecting the lower arm and the link. Or an industrial robot having an arm mechanism formed so that the joint across the distal end of the attachment shaft connected to this is in constant contact with the outer plate through the side plate or side plate. 케이싱내에 배치한 구동모우터에 펄스엔코우더를 선단부에 가진 제어용 회전축을 연결하고 이 제어용 회전축의 기단부에 감속장치를 부착하는 동시에이 감소장치와 기단부를 연결한 구동용 회전축내에 상기 제어용 회전축을 삽통하여 이루어진 선회용 로우터리 서어보 작동기를 가진 산업용 로봇.A control rotary shaft having a pulse encoder at the distal end is connected to the drive motor disposed in the casing, and a reduction gear is attached to the proximal end of the control rotary shaft, and the control rotary shaft is inserted into the driving rotary shaft connecting the reduction device and the proximal end. Industrial robot with swivel rotary servo actuator. 전자클러치를 갖춘 구동모우터에 감속장치를 부착하고 이 감속장치의 구동축에 기어를 배치한 핸드부 전체를 일체로 회전 구동시키는 구동장치를 부착구를 통하여 설치하고 이 기어와 전자클러치를 갖춘 구동모우터의 플랜지에 설치한 기어를 맞물리는 동시에 이 부착구에 설치한 구동모우터의 감속장치의 구동축의 기어와 맞물려져 있는 기어를 기단부에 선단부에는 베벨기어를 구동축에 각각 설치하고 이베벨기어와 맞물려져 있는 베벨기어를 이 구동축과 직교상태의 지축에 설치한 핸드부를 상하동 시키는 구동장치를 보지구를 통하여 설치하고 이보지구에 전자클러치를 갖춘 구동모우터에 플랜지를 가진 감속 장치를 부착한 워어크 부착부를 회전구동시키어 구동하는 장치를 구성하여 이루어진 핸드장치를 가진 산업용 로봇.The reduction gear is attached to the driving motor with the electromagnetic clutch, and the driving gear with the gear and the electromagnetic clutch is installed through the mounting hole to install the driving device for integrally rotating the entire hand part in which the gear is disposed on the driving shaft of the reduction gear. Gears engaged with the gears of the drive shaft of the reduction gear of the drive motor installed in this mounting hole, and bevel gears are installed on the drive shaft at the distal end and engaged with the bevel gears. Mounted bevel gear is installed through the holding mechanism to drive up and down the hand part installed on the axis perpendicular to this drive shaft, and with the work of the gear with the flange on the driving motor equipped with the electronic clutch in the Ibo district. An industrial robot having a hand device composed of a device for rotating and driving a part. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019810002915A 1980-08-15 1981-08-11 Robot for industrial KR840002421B1 (en)

Applications Claiming Priority (11)

Application Number Priority Date Filing Date Title
JP11280180A JPS5848316B2 (en) 1980-08-15 1980-08-15 Arm mechanism balance device
JP55-112800~802 1980-08-15
JP???55-112801 1980-08-15
JP11280080A JPS59351B2 (en) 1980-08-15 1980-08-15 industrial robot
JP11280280A JPS5847317B2 (en) 1980-08-15 1980-08-15 Inertia prevention device for arm mechanism
JP???55-116142 1980-08-15
JP???55-116141 1980-08-15
JP11614180U JPS5738209U (en) 1980-08-15 1980-08-15
JP11614280U JPS588466Y2 (en) 1980-08-15 1980-08-15 Arm mechanism hand device
JP???55-112800 1980-08-15
JP???55-112802 1980-08-15

Publications (2)

Publication Number Publication Date
KR830005976A true KR830005976A (en) 1983-09-14
KR840002421B1 KR840002421B1 (en) 1984-12-27

Family

ID=27526568

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019810002915A KR840002421B1 (en) 1980-08-15 1981-08-11 Robot for industrial

Country Status (6)

Country Link
KR (1) KR840002421B1 (en)
DE (1) DE3131933A1 (en)
FR (1) FR2488543B1 (en)
GB (1) GB2085398B (en)
IT (1) IT1145076B (en)
SE (1) SE8104846L (en)

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DE3211688C2 (en) * 1982-03-30 1986-10-09 Binder, Karl-Franz, 8077 Reichertshofen Industrial robots for manufacturing and / or assembly purposes
DE3570058D1 (en) * 1984-02-27 1989-06-15 Thyssen Industrie Manipulator
SE454250B (en) * 1984-09-24 1988-04-18 Asea Ab INDUSTRIAL ROBOT WITH LINEAR DRIVE DEVICES
US4672279A (en) * 1984-10-11 1987-06-09 Kabushiki Kaisha Toshiba Robot joint angle detecting system
DE8430397U1 (en) * 1984-10-16 1986-05-28 Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Robotic articulation mechanism
CA1312349C (en) * 1986-11-08 1993-01-05 Genzo Fuse Robot apparatus
US5102280A (en) 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
GB9022714D0 (en) * 1990-10-19 1990-12-05 Kliklok Int Composite reciprocatory movements
WO1994012424A1 (en) * 1992-12-01 1994-06-09 Vinten Group Plc Counter-balanced load carriers
GB9225102D0 (en) * 1992-12-01 1993-01-20 Vinten Group Plc Improvements in or relating to counter-balanced load carriers
CN102430910B (en) * 2011-12-26 2013-10-23 铜陵晟王铁路机械制造有限责任公司 Assembly tooling for side frame chute wearing plate
CN105922249A (en) * 2016-06-23 2016-09-07 马鞍山马钢表面工程技术有限公司 Blank taking manipulator of annular heating furnace
CN106182074A (en) * 2016-07-12 2016-12-07 诺伯特智能装备（山东）有限公司 Six-DOF industrial robot
CN106181983A (en) * 2016-08-16 2016-12-07 无锡百禾工业机器人有限公司 A kind of circular cylindrical coordinate type industrial robot
CN106671055B (en) * 2016-12-14 2023-03-14 中航西安飞机工业集团股份有限公司 Power-assisted manipulator and control system thereof
CN108176967A (en) * 2018-02-09 2018-06-19 苏州意锐聚自动化设备有限公司 A kind of motor gear press-loading device
CN111516004B (en) * 2020-05-19 2021-06-01 苏州市永睿特伦机械有限公司 Universal pneumatic balance control device for power-assisted manipulator
CN112659176B (en) * 2020-12-18 2023-09-22 江苏集萃智能制造技术研究所有限公司 Non-offset cooperative robot integrated joint
CN113927581B (en) * 2021-11-12 2023-07-21 浦曼托(常州)智能装备有限公司 Can effectively protect mechanized suspension type arm of centre gripping product

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DE1947910A1 (en) * 1968-09-28 1970-04-09 Intranszmas Magyar Bolgar Tars Slewing crane with balanced jib system
JPS5842118B2 (en) * 1973-07-27 1983-09-17 オオジセイキコウギヨウ カブシキガイシヤ Crane touch
SE400539B (en) * 1976-11-12 1978-04-03 Frisk Knut Olov LOAD HANDLER WITH LIFT ARM SYSTEM BUILT UP BY PARALLEL PROGRAM LINKS
AU3602478A (en) * 1977-05-13 1979-11-15 Kono T Cargo handling apparatus
DE2754609A1 (en) * 1977-12-08 1979-06-13 Karlsruhe Augsburg Iweka Industrial robot manipulator pivot spindle drive unit - comprises three independent modules positively secured together

Also Published As

Publication number Publication date
GB2085398B (en) 1985-06-26
FR2488543B1 (en) 1986-09-05
SE8104846L (en) 1982-02-16
FR2488543A1 (en) 1982-02-19
KR840002421B1 (en) 1984-12-27
IT1145076B (en) 1986-11-05
IT8103505A0 (en) 1981-08-14
DE3131933A1 (en) 1982-04-15
GB2085398A (en) 1982-04-28

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